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US11188086B2 - Identification and localization of a base station of an autonomous mobile robot - Google Patents

Identification and localization of a base station of an autonomous mobile robot Download PDF

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Publication number
US11188086B2
US11188086B2 US15/757,245 US201615757245A US11188086B2 US 11188086 B2 US11188086 B2 US 11188086B2 US 201615757245 A US201615757245 A US 201615757245A US 11188086 B2 US11188086 B2 US 11188086B2
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Prior art keywords
base station
robot
autonomous mobile
mobile robot
navigation
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US20180246518A1 (en
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Reinhard Vogel
Harald Artes
Christoph Freudenthaler
Fabian Lenhardt
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Robartgmbh
Papst Licensing GmbH and Co KG
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Robartgmbh
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G05D2201/0215—

Definitions

  • the application relates to a method for the identification and localization of a base station of an autonomous mobile robot by the robot. It is further described how the base station may be employed for the calibration of a sensor of the robot and how the docking maneuver may be improved.
  • one aspect consists in simplifying or improving known methods for identifying and locating a robot base station by the robot as well as the known methods for docking onto the base station.
  • the robot comprises a navigation module with a navigation sensor for detecting the geometric features of objects in the environment of the robot.
  • the base station has at least one geometric feature that can be detected by the robot by means of the navigation sensor.
  • the robot includes a robot controller that is coupled to the navigation module and which is configured, based on the at least one geometric feature of the base station, to identify the base station and/or to localize and/or to determine a docking position of the robot.
  • a further example of the application relates to a base station for a mobile robot.
  • the base station has a housing with at least one opening arranged in the housing which, due to its geometry, defines at least one geometric feature that is detectable by the sensor system of the robot.
  • the method comprises the detection of geometric features of objects in the environment of the robot by means of a navigation module of the robot which has a navigation sensor. At least one of the thus detected objects is a geometric feature of the base station. The method further comprises the identification and/or localization of the base station based on the at least one geometric feature of the base station.
  • the robot comprises a navigation module with a navigation sensor for the detection of geometric features of objects in the environment of the robot.
  • the base station has at least one geometric feature that can be detected by the robot by means of a navigation sensor.
  • the navigation module is configured to test and/or calibrate the navigation sensor with the aid of the at least one detected geometric feature of the base station.
  • a method comprises the detection of geometric features in the environment of robot by means of a navigation module of the robot which has a navigation sensor, wherein at least one of the detected features is a geometric feature of the base station.
  • the navigation sensor is calibrated and/or tested with the aid of the at least one geometric feature of the base station.
  • a further method serves to dock an autonomous mobile robot onto a base station.
  • the method comprises the detection of a docking position of the robot on the base station, wherein the docking position comprises a location and an orientation of the robot, as well as the navigation of the robot into the docking position. Afterwards it is tested whether the robot has correctly docked onto the base station. If this is not the case, the position of the robot is varied and it is once again tested whether the robot has correctly docked onto the base station. The varying and testing is carried out until either the test is successful or an abort criterion is fulfilled.
  • a method for the automatic docking of an autonomous mobile robot onto a base station includes the detection of obstacles by means of a navigation module of the robot which has a navigation sensor, as well as testing whether, within a defined area around the base station, access to the base station for the robot is impeded by detected obstacles. If the test reveals that access to the base station is impeded for the robot, a disturbance is communicated via a user interface.
  • a further exemplary method for an autonomous mobile robot includes the detection of geometric features of objects in the environment of the robot by means of a navigation module of the robot which comprises a navigation sensor, as well as the navigation of the robot based on at least one of the detected geometric features and on an electronic map of the area in which the robot operates.
  • the position of a base station of the robot is designated on the electronic map.
  • the method further includes testing whether the detected geometric features contain a geometric feature that is linked with the base station. If this is the case, the current position of the base station is determined based on the geometric feature that is linked with the base station and the position of the base station is updated on the electronic map.
  • the base station may be detected and located in a different manner in order to update its position on the map of the robot.
  • a further example of a method for an autonomous mobile robot includes the detection of geometric features of objects in the environment of the robot by means of a navigation module of the robot which comprises a navigation sensor, as well as the navigation of the robot based on at least one of the detected geometric features and on an electronic map of the area in which the robot operates.
  • the position of a base station of the robot is designated on the electronic map.
  • a first geometric feature that is not defined by the base station is linked with the position of the base station.
  • This first geometric feature is tracked using a SLAM algorithm, wherein a position of the first geometric feature on the electronic map is kept current and the position of the base station is saved as a relative position relative to the position of the first geometric feature.
  • FIG. 1 shows a robot with a base station in its area of robot operation.
  • FIG. 2 schematically shows by means of a drawing the optical distance measurement using triangulation.
  • FIG. 3 shows an example of a base station with geometric features that are detectable by the navigation sensor of the robot and which are defined by openings in the front housing wall of the base station.
  • FIG. 4 illustrates the detection of the geometric figures of a base station using the navigation sensor of the robot, as well as possible systematic measurement errors.
  • FIG. 5 illustrates a method for docking a robot onto a base station, wherein the robot continues to vary its orientation until it has correctly docked.
  • a mobile robot should be able to dock onto its base station reliably and safely.
  • Known systems base stations and robots
  • methods for finding and recognizing a base station and its exact position and orientation often employ special sensors in the robot (e.g. a light beam), complex image processing algorithms, which must be executed in addition to the navigation algorithms, and/or special markings on the base station or in the area in which the robot is operated.
  • the locating of the base station and the docking of the robot onto the base station should be robust against many different kinds of disturbances. For example, shifting of the base station may impair a reliable localization of the base station.
  • the functionality of the sensors employed by the robot for navigation cannot be reliably tested in an unknown environment, such as in the area in which the robot is operated.
  • the approach to the base station (docking maneuver) may sometimes end in a failed charging contact due to odometry errors.
  • the user for example, may place obstacles near the base station that disrupt the docking maneuver and thus result in a failed docking.
  • the base station is recognized and localized with the aid of its geometric shape (e.g. certain geometric characteristics (outer form/shape) of the housing of the base station).
  • the base station itself exhibits, due to its outer form/shape, at least one geometric feature, with the aid of which the robot may recognize the base station.
  • Special markings on the housing of the base station (which nevertheless have no influence on its geometric form/shape) or the emission of a (locating) signal are no longer necessary.
  • a robot should quickly and reliably find its way back to its base station after completion of its (e.g. cleaning) task.
  • the position of the base station is marked on a map and is kept current by means of various methods.
  • a further desirable capability of the robot is that it be able to maintain its bearings (to accurately and quickly orient itself) in different areas in which the robot operates (such as, for example, on the various floors of a building).
  • one base station is employed in each of the areas in which the robot operates that the robot is able to distinguish from one another.
  • the robot links a map of the respective area of operation with each base station. Once the robot has identified a specific base station, it can immediately begin a (self) localization with the aid of the map that is linked with each base station.
  • a further desirable capability of a mobile robot is a robust and exact docking onto the base station so that, for example, a contact between the charging contacts of the robot and those of the base station can be reliably carried out.
  • the position and orientation of the robot is slightly corrected in order to be able to safely dock.
  • a docking should also be possible in the case of possible disturbance (e.g. access to the base station is blocked).
  • a possible disturbance is detected and the user is informed of it.
  • FIG. 1A shows an autonomous mobile robot 100 and a corresponding base station 200 in an operation area of the robot.
  • the robot has a navigation module with at least one navigation sensor 110 for orienting itself in its environment and for navigating throughout the operation area of the robot, thus enabling it to autonomously carry out a task.
  • the navigation module of the robot 100 collects with the aid of the navigation sensor 110 information regarding the position of “navigation features” in the environment of the robot, e.g. geometric features of objects such as, e.g. those of obstacles, as well as information regarding the floor covering, etc.
  • Geometric features are, for example, surfaces (e.g. a wall), lines (e.g.
  • Every navigation feature can be associated with a position (including orientation) in the room and, if needed, recorded on the electronic map of the robot 100 .
  • the navigation module operates, for example, using an obstacle avoidance strategy and/or a SLAM algorithm (Simultaneous Localization and Mapping) and/or one or more maps of the area in which the robot operates.
  • the robot can create a new map of the robot operation area while in operation or it can make use of an already existing map before beginning its task.
  • An already existing map can be created by the robot itself during the completion of an early task, such as an exploratory run, or may be provided by another robot and/or a person.
  • the navigation sensor 110 detects information about the environment of the robot (and thus about the area in which it operates), in particular about its geometric features in one, two or three dimensions.
  • the navigation sensor 110 may be, for example, a sensor for distance measurement such as, for example, an optical and/or acoustic sensor that detects the distance between the sensor and an obstacle by means of triangulation or by measuring the travel time of an emitted signal (e.g. a laser beam or an ultrasonic signal). Accordingly, e.g. triangulation sensors, time of flight cameras, laser scanners, ultrasonic sensors and the like may be employed as navigation sensors.
  • the navigation module of the robot 100 can determine the distance between the robot and the individual points, lines and/or surfaces of objects in the environment of the robot.
  • the thus detected points, lines and/or surfaces are designated as “navigation features” and are saved on a map of the robot (i.e. the geometry of the navigation feature and its position, including orientation, is designated on the electronic map). Later, the robot can orient itself with the aid of these navigation sensors and/or avoid the detected obstacles, thus preventing collision.
  • a navigation sensor 110 is a camera (e.g. with a CCD or CMOS image sensor) that has a detection module for identifying the corners and edges of object (navigation features) in the environment recorded on an image by means of image data processing.
  • the position of a navigation feature within a projected plane relative to the robot can be determined.
  • the position, including the orientation, of the navigation feature and that of the robot within the room can be determined on the basis of this movement.
  • This procedure is known as visual SLAM.
  • FIG. 1C shows a simple example of a base station 200 . It consists of a main body 210 with geometric features that can be detected by the navigation sensor as navigation features.
  • the main body 210 of the base station 200 may include various further components such as, for example, components for charging the battery of the robot 100 or for vacuuming out dirt.
  • Two charging contacts 220 are arranged on the base station 200 . Corresponding contact are arranged on the robot 100 which must come into contact with the charging contacts 220 in order to allow a successful charging of the robot battery. This means that, in order to charge its batter, the robot must dock onto the base station at a certain position and in a certain orientation. The position and orientation required for this (and, thus, the path to be followed), can be determined by the robot when the position and orientation of the main body 200 are known to it.
  • the geometric characteristics of the base station 200 are detected as navigation features with the aid of the navigation sensor 110 of the robot for the purpose of its navigation.
  • the navigation features of the base station can be definitively and without a great deal of additional effort identified, their position and orientation in the robot's environment can be determined and they can be recorded on the map of the robot.
  • Simple criteria are used to achieve this purpose such as, for example, (1.) the distance separating certain points (e.g.
  • corners of a feature from other features, (2.) the length of edges/segments/lines, (3.) the size of surfaces, (4.) the location of features relative to each other, in particular the angle between two edges, segments or lines or the angle defined by three specific points (corners), (5.) ratios (relative sizes, lengths), e.g.
  • error metrics such as the (squared) deviation of the (erroneous) measurement from the construction-related standard values (with the aid of a larger quantity of points, a straight line, for example, can be determined that can be established by means of linear regression; the degree of deviation of a specific point from the regression lines can serve as a criterion as to whether the given point altogether belongs to the assumed line).
  • the detected features designate a width, a depth and/or a height of a part of the main body of the base station.
  • the criteria used to locate the base station should be easy to calculate and be robustly determinable from various positions. This is explained in greater detail in the following.
  • the distance to obstacles in the environment of the robot is determined, e.g. by means of optic triangulation, for the purpose of which structured light (in a visible or non-visible range) in the form of a line running approximately parallel to the surface of the floor is emitted.
  • the principle of optical triangulation is illustrated in FIG. 2 .
  • the emitted structured light 111 strikes an obstacle H and is diffusely scattered off of it.
  • a camera takes a picture of the environment that depicts the light that is reflected back from the obstacle (e.g. a light line).
  • the distance d to the illuminated obstacles H at selected points or along the entire line can be determined based (in the case of a horizontal light line) on the vertical position x of the structured, reflected light (i.e. of the light line) in the picture.
  • the base station 200 is geometrically designed such that, because of its height, it is illuminated by the light emitted from the navigation sensor 110 and, because of its depth, is clearly distinguishable from a wall. Furthermore, the surface of the base station is designed such that the light emitted from the navigation sensor 110 is reflected in a well diffused state (meaning that it exhibits no absorbing or mirroring surfaces).
  • FIG. 1B shows, as an example, the possible results of a sensor measurement of the scenario shown in FIG. 1A .
  • the robot 100 recognizes with the aid of its navigation modules and its navigation sensors 110 two line shaped navigation FIGS. 201 and 202 stemming from the measurement of the base station.
  • the navigation features 201 , 202 will be designated as boundary lines or, in short, as lines.
  • These two lines 201 and 202 each have a characteristic length which corresponds to the width (in horizontal direction) of the side surface (line 201 ) and of the front surface (line 202 ).
  • the two lines 201 and 202 include a certain angle (e.g. a right angle). If, for example, the base station 200 (e.g.
  • the robot 100 in a horizontal plane that lies at a certain height above the floor) has a rectangular cross sectional area having side lengths of, e.g. 5 cm and 15 cm and the robot 100 , with the aid of its navigation sensor 110 , detects two almost rectangular lines having lengths of nearly 5 cm (line 201 ) and 15 cm (line 202 ), then the robot 100 can interpret these lines as the base station.
  • use may be made of the side ratio of 5:15 1:3.
  • one side of the base station cannot be recognized by the robot due to the shadowing caused by the front surface of the navigation sensor.
  • the robot can move round the base station until it has also reliably recognized the second side surface.
  • the base station will be regarded from at least two different positions.
  • the base station 200 is recognized solely based on its rectangular form. In such cases, the probability for an erroneous detection is high, as any rectangular object (for example, a box) having the corresponding side lengths would be recognized as the base station. Furthermore, the described corners will have generally been replaced by rounded edges, both for safety reasons (risk of injury), as well as for reasons of design. In principle, such rounded edges are also detectable with the aid of the navigation sensor described above. The calculation effort needed for the processing of rounded forms, however, is greater than that needed for straight lines.
  • the inside of the base station is also utilized for its detection.
  • one or more openings are introduced into the main body of the base station. Individual components (for example, for vacuuming dirt) of the base station may be visible through these openings. This may also be omitted, however, so that only one or more inner walls can be recognized.
  • FIG. 3A shows an example of a base station 200 with rounded edges and two openings 230 arranged in the front side of the base station.
  • FIG. 3B shows a cross section view through the base station 200 of FIG. 3A , wherein the section plane is a horizontal plane that lies at a certain height above the floor. This certain height is the height at which the navigation sensor 110 carries out the distance measurement to obstacles in the environment of the robot.
  • FIG. 3C shows an example of the results of such a measurement when the robot is standing at a certain distance (for example 0.5-1 m) in front of the base station. From here it can see parts of the back wall of the base station 200 , which all lie along one line.
  • the robot can determine the position of four points ( 1 , 2 , 3 , 4 ) with negligible measurement errors.
  • the position and size of the two openings 230 (windows) has been chosen in this case such that the distance separating any of the two points is different for each pair of points, (meaning, in particular, that d(1; 2) ⁇ d(1; 3) ⁇ d(1; 4) ⁇ d(2; 3) ⁇ d(2; 4) ⁇ d(3; 4), wherein d(i, j) designates the distance between point i and point j).
  • These distances can be easily calculated and compared to stored standard values.
  • the distance separating the points from the line formed by the back wall may also be compared, for example.
  • the ratios of the distances to each other may also be taken into consideration.
  • an error function such as, for example, the coefficient of determination of a regression model, the degree of exactness with which the points 1 , 2 , 3 , and 4 lie along a line parallel to the back wall can be tested.
  • a cover 250 made of a transparent material that allows the light emitted from the navigation sensor 110 to pass through, may be arranged over the openings 230 .
  • the emitted light may lie, for example, in an (infrared) spectrum that is not visible to humans, so that the cover as viewed by the robot is transparent, but, as viewed by humans, will appear colored and nontransparent.
  • Such a cover 250 should not only cover the openings 230 , but should also, independent of this, be used to form differing geometric shapes that can be recognized by the user and the robot. In this manner, aspects of design may be combined with a simplified detectability.
  • the cover 250 may be provided with an antireflective coating that is matched to the wavelength of the light emitted by the navigation sensor 110 .
  • the base station may be reliably recognized in this plane based on its geometric form, at least a selection of the recognizable navigation features (or more specifically, their underlying dimensions) must be found in the environment of the expected cross section measurement, irrespective of the actual height of measurement (the distance of the plane in which the distance measurement is carried out from the floor).
  • the robot will be employed in two mutually isolated areas of robot operation such as, for example, on two different floors of a building.
  • a base station 200 In each of the areas of operation a base station 200 is located that the robot 100 can definitively recognize with the aid of its navigation sensor 110 . If the robot 100 is thus now capable of differentiating between the base stations 200 , it also immediately obtains information as to which of the various areas of operation it is located in without the need for the user to additionally intervene.
  • some parts of the geometric form of the base station may be altered by the user (e.g. at the time the base station is put into operation), meaning that a feature that is recognizable by the navigation sensor 110 may be altered in a previously defined manner.
  • This alteration can be achieved, for example, by shifting, removing or adding parts to the base station.
  • an alteration can be carried out by changing the size (width) of one of the two openings, for example.
  • the location of point 3 ( FIG. 3C ) can be varied by adding, for example, an additional screen.
  • a sliding screen may be arranged behind the centre panel between the two viewing windows.
  • Autonomous mobile robots 100 that mark their base stations 200 on a map are basically known. Often the base station serves as the starting point of the map, i.e. the base station has a permanent position on the map. The position of the base station, however, can change. Detecting the base station based on characteristics (navigation features) that can be detected by the navigation sensor 110 makes it possible to easily update the position of the base station on the map. However, it is also possible to detect the base station by other means, thereby allowing the position of the base station on the map of the robot to be updated. The change in the position of the base station may be carried out by a user, e.g. (1.) while the robot is in operation or (2.) while the robot is docked on the base station.
  • a user e.g. (1.) while the robot is in operation or (2.) while the robot is docked on the base station.
  • mapping carried out by the robot and/or its localization on the map may lead to the result that the position of the base station anticipated by the robot does not correspond to its actual position. In the worst case, this can result in the loss of all (meaningful) information about the position of the base station.
  • examples will be used to explain how this problem can be solved, or at least mitigated.
  • Position updates using a SLAM algorithm SLAM algorithms (Simultaneous Localization and Mapping), by means of which the position of the robot and selected navigation features that have been detected by the navigation sensor are continuously correlated, are often employed for the navigation of autonomous mobile robots. This enables to robot to carry out a robust mapping despite measurement and odometry errors.
  • SLAM demands a relatively high amount of computing capacity, which is why only a few selected and readily visible navigation features such as, for example, walls are taken into consideration in order to limit the needed calculation effort.
  • the positions of the navigation features (and those of the robot) that are tracked in the SLAM algorithm are continuously corrected; meaning they are at no permanent (relative) position in relation to other objects that are not tracked in the SLAM algorithm.
  • the features of the base station are generally too small to be tracked by the SLAM algorithm and they may therefore shift their recorded position relative to a wall (which is tracked by the SLAM algorithm). This can result in the recorded position being located in the wrong room or even outside of the area of operation. For this reason it is useful to update the position of the base station.
  • the position of the base station can be easily kept current using the SLAM algorithm.
  • at least one easily detectable feature of the base station (cf. FIG. 3 ) is selected and tracked with the aid of the SLAM algorithm.
  • This can be, for example, the segment formed by points 2 and 3 in FIG. 3C .
  • a feature can also be used that has been detected in the proximity of the base station. This can be, for example, the line 300 in FIG. 1B , which is formed by the wall against which the base station stands.
  • the robot records which of the features tracked by the SLAM algorithm determines the position of the base station.
  • the robot can save the position of the base station relative to this navigation feature. When the robot wants to return to the base it can move to a position near this feature, thus ensuring that it will reliably find its way back again.
  • Position updates during operation of the robot In the event that the base station, for example, is moved by the user while the robot is in operation, it is advantageous for the robot 100 to recognize the base station 200 when moving past it and to update the map with the new position. Since the navigation sensor detects features of the base station to navigate the robot, it is sufficient in this case for the newly detected features to be tested as to whether they might be part of the base station. In this case, as a first step, an easily recognized feature, for the detection of which only a small amount of additional calculation time is required, can be used. After recognition has been confirmed, further characteristics of the base station can be tested.
  • segments e.g. lines of a certain length and orientation
  • segments can be looked for that correspond in their length to the distance separating points 2 and 3 in the FIG. 3C .
  • it can be further tested as to whether a back wall is recognizable, whether this is at the correct distance, and whether the points 1 and 4 are present and lie along one line. While doing so, the length of recognized segments, for example, can be routinely detected by the navigation module in order to test them regarding their relevance for the navigation.
  • the new position of the base station is recorded and the former one is deleted. This is particularly useful when the navigation sensor simultaneously examines the former position of the base station and no base station is detected at this position. If a base station is detected at a location in the area of robot operation that is far away from the previous base station, then this may be due to the presence of a second base station. In this case the position of the base station is newly recorded and the former position is retained for later verification. When the robot is in the proximity of the former position, it tests whether the base station is still present. Depending on the result, the former position is either deleted or it is recorded that there are two base stations located in the area of operation of the robot. The respective positions (including orientation) of both base stations can be saved on the map.
  • the robot finds itself in the proximity of a base station but does not detect it. This may be the case if the position of the base station has been changed by the user, but also if the user has only temporarily removed it, for example to clean it. In the simplest case the robot will delete the position of the base station from the map data. Alternatively, this position on the robot's map may be marked as “questionable”. If while carrying out its operational task the robot later recognizes a base station at a different position, then the position marked as questionable is deleted and the new position of the base station is recorded. In the opposing case, the robot returns to the position marked as questionable when it wants to return to the base station.
  • a special search program is started to find the base station, wherein the robot moves around the area of operation and looks specifically for features (navigation features) of the base station.
  • a message can be sent to the user (e.g. by means of a user interface, e.g. an application on a tablet computer or mobile telephone), allowing the user to react to the situation, if needed.
  • the measurement accuracy of the navigation sensor 110 may deteriorate as the distance to the object to which the distance measurement is to be carried out increases. In the case of object with elongated dimensions, the accuracy also depends on their orientation. This may particularly be the case when triangulation sensors are used. If, for example, the base station 200 of FIG. 3 is viewed directly from the front, then the distance separating the points 2 and 3 can be determined at a distance of approximately 2 m with sufficient accuracy. If the base station, however, is viewed from an angle of 45°, then, in order to ensure a reliable measurement, the distance between the base station 200 and the robot 100 should not exceed about 1 m.
  • a maximum distance for testing whether a detected navigation feature belongs to the base station can be determined in order to improve the quality of the detection of the base station.
  • the maximum distance for carrying out a test may also depend on the orientation of the feature (relative to the robot).
  • Position updates at the start of robot operation A user may move the robot together with the base station while the robot is docked onto it and while the robot, for example, is in pause modus. If the robot is using an existing map that, for example, it had compiled while carrying out a previous operational task, then its new position (and that of the base station) will no longer correspond with the existing navigation information.
  • the robot may carry out the following steps at the start of its operational task: (1.) Exit the base station and collect map data that is relevant for its operational task; (2.) Localization of the robot in the existing map data; and (3.) Update of the position of the base station in the map data.
  • the self-localization of the robot can be carried out in this case using an algorithm that determines the position of the robot on the map by comparing the data detected by the navigation sensor with the existing map data.
  • the former, known position of the base station can be used as a first localization hypothesis for the location of the robot. If, for example, in step 2 described above the localization of the robot fails, then the robot begins to compile a new map and the position of the base station is recorded in this new map. Upon completion of the robot's operational task, the user can be informed of the newly compiled map and can be asked whether it should be used to replace or augment the former map.
  • a robot may be employed in two or more mutually isolated areas of robot operation such as, for example, on various floors of a building.
  • a base station which the robot can definitively identify with the aid of its navigation sensor (as described above), may be located in each one of the areas of operation.
  • the robot “knows” which area of operation (e.g. on which floor) it is located in.
  • the navigation module of the robot can load the map data that is linked with the respective base station.
  • a prerequisite for this is that the user positions the robot in advance on one of the base stations or in the proximity of one of the base stations.
  • the robot can start a localization using the loaded map data.
  • the robot can use the position of the base station known from the map and its relative position to the same in order to accelerate the localization. This is done, for example, by using the position of the base station (or the docking position of the robot) as a localization hypothesis.
  • the area on the map in which the robot is attempting to localize itself is limited to an area surrounding the base station. This area is, for example, a square in front of the base station (and bordering on the same) or a circle around the base station. The lateral lengths/radius can depend on the distance between the robot and the base station.
  • the robot carries out the following steps for the purpose of localization: (1.) Exit the base station; (2.) Detect and identify the base station; (3.) Loading of map data linked with the base station; (4.) Localization of the robot on the map bases on the loaded map data; and (5.) Update of the position of the base station in the map data.
  • Step 1 is optional, depending on whether the robot is docked on the base station or not at the start.
  • a new map of the robot's area of operation is compiled. After the robot has completed its operational task, the user can be informed about the newly compiled map. The robot can ask the user whether the new map should be linked with the base station and permanently saved. In an alternative embodiment, the robot, in the event of a failed localization, can attempt a localization using the map data associated with other base stations. This may be useful, for example, if the user has replaced the base station with different one.
  • Navigation sensors such as, for example, sensors for distance measurement (see e.g. triangulation sensor in accordance with FIG. 2 ), are very sensitive measurement systems.
  • a disturbance such as, for example, an impact, can result in a decalibration of the sensor, leading to consistently erroneous measurements. This can significantly impair the navigation of the robot through its area of operation.
  • a basis station in accordance with the embodiments described here may be employed for this purpose (calibration), because it has well defined geometric features that are easily recognized by the navigation sensor.
  • a decalibration of the navigation sensor can be determined, for example, by measuring the distance, the length, the size and/or the angles of one or more geometric features (or more specifically, the thus derived navigation features) of the base station and by comparing these with a corresponding standard value. This standard value can also be used to recalibrate the navigation sensor.
  • individual geometric features of the base station may be designed such that their measurement allows for a direct inference to be drawn about at least one of the parameters of the navigation sensor that is to be calibrated.
  • numerous independent measurements may be combined, so that a measurement error of a single measurement will have less overall impact.
  • numerous independent geometric features of the base station such as, for example, width and depth, cf. FIG. 1B and FIG. 3 ) may be measured.
  • the same measurement may be carried out at different distances to the base station.
  • the travelled distance (odometry) between two measurement positions may be taken into consideration.
  • a navigation sensor in particular, a sensor for distance measurement
  • a triangulation sensor which emits structured light (see FIG. 2 , light beam 111 ) from a light source and takes a picture of the thus illuminated environment with a camera (see FIG. 2 , camera 112 ). Based on the camera picture and the relative position between the camera and the light source, the distance (see FIG. 2 , distance d) to an obstacle can be determined. Small changes in the relative position, caused by a shift (e.g. by approximately 1 ⁇ m) or a rotation (e.g.
  • FIG. 1A An example is shown in which, with the aid of a triangulation sensor (navigation sensor 110 ), the (horizontal) cross section of the base station 200 is detected.
  • FIG. 3C A possible result of this measurement can be seen in FIG. 3C . From this sensor data, various dimensions (dimension values) that allow for an inference to be drawn about the quality of the distance measurement can be derived.
  • the distance separating the points 1 and 4 can be determined and compared with the (known) actual width
  • the distance of one or more features on the front side of the base station (such as points 1 , 2 , 3 and 4 ) to the back wall can be determined and compared with the (known) actual depth of the base station;
  • the distance separating the robot 100 and the base station can also be determined, based, for example, on the width and/or depth of the base station 200 . This value may be used to calibrate a distance measurement.
  • the base station 200 can be its relatively small construction size (as compared with large furniture).
  • the navigation sensor should provide exact measurement results over the course of numerous meters, the base station itself is only a few centimeters wide and deep.
  • the light path inside of it can be extended. In this manner the accuracy of the calibration of a navigation sensor that emits targeted light can be improved.
  • the inside of the back wall can be mirrored. In such a case this would make the inner surface of the front housing wall visible to the navigation sensor 110 , meaning that the depth available as a measurement path will be twice that what it would be without the mirroring.
  • the following sensor parameters can be calibrated: Distance of the image sensor (e.g. CCD or CMOS sensor) from the lens (focal length); the distance of the optical axes from the light source (e.g. laser and lens); the inclination of the measurement plane (corresponds to the inclination of the optical axis of the light source, see FIG. 4A , Case b); zero point of the position x on the image sensor (see FIG. 2 ).
  • the last two mentioned parameters inclination of the optical axis of the light source and position of the zero point on the image sensor
  • greatly falsify the distance measurement especially at long distances, which results in systematic measurement errors.
  • Both of these triangulation sensor parameters can be calibrated, for example by measuring the width of the base station (or the distance between points 1 and 4 in FIG. 3C ) and by adapting (calibrating) the parameters such that measured value corresponds with a known reference value.
  • the depth of the base station e.g. the distance of point 3 from the back wall, see FIG. 3C ) is also known and may be used for the calibration of the mentioned parameters.
  • FIG. 4A shows a robot 100 with a navigation sensor 110 (in particular a triangulation sensor) that is carrying out a measurement of the cross section of the base station 200 .
  • the measurement is carried out in a plane that lies parallel to the floor at a distance to the floor h (Case a in FIG. 4A ), but it may also deviate from this (Case b in FIG. 4A ).
  • FIG. 4B shows a base station 200 that is comparable to the example of FIG. 3A , however with an opening 230 ′ (window) that is formed such that the position (and/or the extension) of a navigation feature is dependent on the distance to the floor (punctured line in FIG.
  • the point 2 is shifted to the left, which results in the distance between point 1 and point 2 in Case b being smaller, and the distance between the points 2 and 3 being greater, than in Case a.
  • the base station By measuring the base station at various distances it can be directly determined, for example, whether the sensor measurement is being carried out parallel to the floor surface or, if not, how large the tilt of the measurement plane is relative to a horizontal plane.
  • the third dimension of the base station is also used to directly determine and calibrate a sensor parameter (here the inclination of the optical axis of the light source or the measurement plane of the navigation sensor).
  • the base station requires a geometric feature (e.g. the position of point 2 or the distance between point 1 and 2 ) that definitively depends on the distance to the floor h.
  • the navigation module calculates a docking position from the detected geometric features (navigation features) of the base station and then directs the robot into this position. If the measurements of the navigation sensor are erroneous, the docking maneuver may fail, as then the calculated docking position will not correspond with the actually needed one.
  • the calculation of the docking position depends on one or more parameters that can be calibrated if the exact docking position is known. These parameters are, for example, the position of the navigation sensor 110 on the robot 100 , but also, for example, the shifting of a mirror of the optical reception device of the navigation sensor 110 .
  • the calibration can be carried out by means of a method based on trial and error. For this purpose, the calculated docking position is varied and used to carry out the docking maneuver. This is done repeatedly and the rate of success is measured. The docking position with the highest rate of success is then used to calibrate the needed parameters.
  • the robot 100 can determine its docking position and orientation based on the position of the base station 200 .
  • the navigation module can determine a path for the robot based on its calculated docking position and orientation and can direct the robot to this docking position. Nevertheless, the actual final position and final orientation of the robot 100 (at docking) may deviate from the planned and needed docking position and docking orientation due to odometry errors.
  • FIG. 5B shows that errors may occur merely due to small deviations, e.g. entailing that no contact between the charging contacts 220 of the base station and the corresponding charging contacts 120 of the robot will be established, thus impairing the autonomous functionality of the robot 100 .
  • the robot 100 In order to correct a small deviation in the position of the robot and/or its orientation from the actually needed docking position and/or orientation after completion of a docking maneuver, the robot 100 minimally varies its position (e.g. orientation). As shown in FIG. 5C , by means, for example, of a small rotation a charging contact can be established despite a less than exact docking position (see FIG. 5D ).
  • the robot for example, carries out a first rotation to the left by a predefined angle ⁇ . As depicted in FIG. 5C , this does not necessarily lead to success, which is why a second rotation in the opposite direction is carried out. In order to cover a symmetric area around the original orientation, the second rotation is carried out, for example, by an approximately twofold angle 2 ⁇ of that of the first rotation, however in the opposite direction.
  • Whether or not the needed docking orientation has been achieved can be determined, for example, by the presence of a voltage on the charging contacts or by means of a contact switch. If, for example, no successful contacting has been achieved, the robot can return to its beginning orientation after completing the described rotations.
  • the latter can be provided with one or more (flexibly mounted) nibs which engage in corresponding grooves on the robot.
  • these are formed, for example, by the two charging contacts 220 .
  • these nibs can slide into the corresponding grooves on the robot and thus define an exact docking position and orientation.
  • Connections for vacuuming out a dirt container on the robot by the base station or for refilling cleaning agents may fulfill a comparable function.
  • a certain docking area in front of the base station should be free of obstacles. This area should be large enough for the robot to be able to reliably recognize it when it passes by and it should afford enough space for a docking maneuver that is as simple and direct as possible. Such an area, for example, should afford a space on both the right and left side of the base station that is approximately equivalent to the diameter of the robot and a space in front of the base station approximately equivalent to twice that of the robot's diameter.
  • the influence of the user may result in various disturbances such as, for example, (i) the base station is so positioned that a wall runs through the docking area (in particular because the base station was placed too close in the corner of a room; (ii) small obstacles, such as the leg of a chair or scattered shoes are present in the docking area, blocking part of the approach path; (iii) small obstacles such as a cable or an article of clothing are left lying in the docking area that impede the movement of the robot, for example, by causing an increased slipping of the wheels.
  • the user will not intentionally cause these disturbances and will not intentionally place obstacles in the robot's path that impair access to the base station and thus a safe docking.
  • the attempt is made to detect such problems early and to then inform the user of them so that he may remove the disturbance.
  • the robot for example, is provided with a detection module that can recognize that calculating and/or travelling along the docking path has been significantly impaired or made impossible, for example, by one of the disturbances described above.
  • the navigation sensor for example, can be used for this by detecting obstacles in the docking area. Smaller obstacles in the docking area that the robot can drive over, for example, can be recognized by a sensor that detects an odometry error such as, for example, slipping.
  • the robot In order to inform the user of a recognized problem, the robot possesses at least one communication interface (also known as Human Machine Interface HMI). This may comprise a visual display directly on the robot or a sound signal, in particular a voice output.
  • HMI Human Machine Interface
  • This information includes, for example, the nature of the detected disturbance.
  • the robot can assess how severe the disturbance is and provide the user with this information (e.g. a minor problem (level I, interaction by the user not immediately needed), a relevant problem (level II, interaction by the user recommended/advisable), a grave problem (level III, interaction by the user required)).
  • level I a minor problem
  • level II a relevant problem
  • level III a grave problem
  • the user can decide how crucial it is to intervene.
  • the base station may have been placed too close to a wall, disturbing the docking procedure but not rendering it impossible (level I or II).
  • the user can decide that the base station should remain at its present position and the robot should attempt to dock.
  • the user may have accidentally placed the leg of a chair in front of the base station, rendering a direct docking maneuver impossible (level III).
  • This problem can be quickly remedied by the user, thus ensuring the functionality of the robot.
  • the user can report back to the robot via the communication interface. This report will state, for example, that; (i) the problem has been remedied; (ii) the problem is to be ignored and a docking attempted; (iii) the docking maneuver is to be postponed and the problem will be remedied later.
  • This classification of disturbances is, naturally, only of exemplary nature and may also be carried out in any other desired manner.
  • the robot In order that the user be informed of problems as soon as possible, the robot should always carry out the detection of disturbances immediately upon leaving the base station, hence in particular at the start of a new operational task.
  • the robot includes a robot controller that is generally programmable and is, depending on the application, programmed such that the robot can carry out the respective method.
  • the robot controller need not necessarily be realized in a single component of the robot. In general, all components that influence the externally visible behavior of the robot form a part of the robot controller.
  • the robot controller does not have to be physically installed within the mobile robot, but may also be partially located outside of the robot in stationary (control) devices such as, e.g. computers that are connected with the robot via a communication connection.

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